Vehicle periphery display device

ABSTRACT

A vehicle periphery display device includes: an acquisition portion acquiring a captured image obtained by imaging a periphery of a vehicle with an imaging portion; and a display processing portion causing a display image that is a stereoscopic image of the vehicle and the periphery of the vehicle to be displayed on a display portion on the basis of the captured image. The display processing portion causes at least one of a contour guide line representing a contour of the vehicle, and a predicted course guide line that is a trajectory drawn by the contour guide line according to movement of the vehicle to be included in the display image, and changes a position of at least one of the contour guide and predicted course guide lines such that the contour guide and predicted course guide lines are present above a road surface when the vehicle is turned.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119to Japanese Patent Application 2019-131406, filed on Jul. 16, 2019, theentire content of which is incorporated herein by reference.

TECHNICAL FIELD

Embodiments of this disclosure relate to a vehicle periphery displaydevice.

BACKGROUND DISCUSSION

A technique has been developed in which, when a stereoscopic image of avehicle and the periphery thereof is displayed as a display image isdisplayed on a display portion on the basis of captured images obtainedby imaging the vehicle and the periphery thereof with an imagingportion, the display image includes a contour guide line representing acontour of the vehicle, and a predicted course guide line that is atrajectory drawn by an end of the contour guide line according tomovement of the vehicle.

However, in the above technique, since the contour guide line isdisplayed at a fixed position with respect to a position of an image ofthe vehicle in the display image, in a case where an image of an object(obstacle) floating from a road surface is included in the displayimage, there is a probability that an occupant who sees the displayimage may misunderstand a distance from the vehicle to the object, andthus the vehicle may collide with the object.

A need thus exists for a vehicle periphery display device which is notsusceptible to the drawback mentioned above.

SUMMARY

A vehicle periphery display device according to an embodiment includes,as an example, an acquisition portion that acquires a captured imageobtained by imaging a periphery of a vehicle with an imaging portion;and a display processing portion that causes a display image that is astereoscopic image of the vehicle and the periphery of the vehicle to bedisplayed on a display portion on the basis of the captured image, inwhich the display processing portion causes at least one of a contourguide line representing a contour of the vehicle, and a predicted courseguide line that is a trajectory drawn by the contour guide lineaccording to movement of the vehicle to be included in the displayimage, and changes a position of at least one of the contour guide lineand the predicted course guide line such that the contour guide line andthe predicted course guide line are present above a road surface in acase where the vehicle is turned.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and additional features and characteristics of thisdisclosure will become more apparent from the following detaileddescription considered with the reference to the accompanying drawings,wherein:

FIG. 1 is an exemplary and schematic diagram illustrating aconfiguration of a vehicle cabin of a vehicle according to a firstembodiment;

FIG. 2 is an exemplary and schematic view illustrating an appearance ofthe vehicle according to the first embodiment, viewed from above;

FIG. 3 is an exemplary and schematic block diagram illustrating a systemconfiguration of the vehicle according to the first embodiment;

FIG. 4 is an exemplary and schematic block diagram of a functionalconfiguration of a vehicle periphery display device of the vehicleaccording to the first embodiment;

FIG. 5 is a diagram for describing an example of a process in which acaptured image is projected onto a three-dimensional space by thevehicle periphery display device of the vehicle according to the firstembodiment;

FIG. 6 is a diagram for describing an example of a process in which acontour guide line and a predicted course guide line are drawn in athree-dimensional space by the vehicle periphery display device of thevehicle according to the first embodiment;

FIGS. 7A and 7B are diagrams for describing an example of a process inwhich positions of the contour guide line and the predicted course guideline are changed by the vehicle periphery display device of the vehicleaccording to the first embodiment;

FIG. 8 is a diagram for describing an example of a process in which adisplay image is displayed by a vehicle periphery display device of avehicle according to a second embodiment;

FIG. 9 is a diagram for describing another example of a process in whicha display image is displayed by the vehicle periphery display device ofthe vehicle according to the second embodiment; and

FIGS. 10A and 10B are diagrams for describing an example of a process inwhich a contour guide line and a predicted course guide line aredisplayed by the vehicle periphery display device of the vehicleaccording to the second embodiment.

DETAILED DESCRIPTION

Hereinafter, exemplary embodiments disclosed here will be described. Theconfigurations of the embodiments described below and the operations,results, and effects provided by the configurations are examples. Thepresent disclosure can be realized by configurations other than thosedisclosed in the following embodiments, and can achieve at least one ofvarious effects based on the fundamental configuration and derivativeeffects.

First Embodiment

FIG. 1 is an exemplary and schematic diagram illustrating aconfiguration of a vehicle cabin of a vehicle according to a firstembodiment. FIG. 2 is an exemplary and schematic view illustrating anappearance of the vehicle according to the first embodiment, viewed fromabove.

First, an example of a hardware configuration of a vehicle to which avehicle periphery display device according to the present embodiment isapplied will be described with reference to FIGS. 1 and 2.

As illustrated in FIG. 1, a vehicle 1 according to the presentembodiment has a vehicle cabin 2 a in which occupants including a driveras a user gets. In the vehicle cabin 2 a, a braking portion (brakingoperation portion) 301 a, an acceleration portion (accelerationoperation portion) 302 a, a steering portion 303 a, a shift portion(shift operation portion) 304 a, and the like are provided to beoperable by the user from a seat 2 b.

The braking portion 301 a is, for example, a brake pedal provided underthe drivers foot. The acceleration portion 302 a is, for example, anaccelerator pedal provided under the drivers foot. The steering portion303 a is, for example, a steering wheel protruding from a dashboard(instrument panel). The steering portion 303 a may be a handle. Theshift portion 304 a is, for example, a shift lever protruding from thecenter console.

A monitor device 11 having a display portion 8 capable of outputtingvarious images and a sound output portion 9 capable of outputtingvarious sounds is provided in the vehicle cabin 2 a. The monitor device11 is provided, for example, in the central portion in the widthdirection (left-right direction) of the dashboard in the vehicle cabin 2a. The display portion 8 is, for example, a liquid crystal display (LCD)or an organic electroluminescence display (OELD).

An operation input portion 10 is provided on a display screen as aregion in which an image is displayed on the display portion 8. Theoperation input portion 10 is, for example, a touch panel capable ofdetecting coordinates of a position where a pointer such as a finger ora stylus approaches (including contact). Consequently, the user (driver)can visually recognize an image displayed on the display screen of thedisplay portion 8 and perform a touch (tap) operation or the like usingthe indicator on the operation input portion 10, to execute variousoperation inputs.

In the present embodiment, the operation input portion 10 may be variousphysical interfaces such as switches, dials, joysticks, and pushbuttons. In the present embodiment, another sound output device may beprovided at a position different from the position of the monitor device11 in the vehicle cabin 2 a. In this case, various pieces of soundinformation may be output from both of the sound output portion 9 andanother sound output device. In the present embodiment, the monitordevice 11 may be configured to be able to display information regardingvarious systems such as a navigation system and an audio system.

As illustrated in FIGS. 1 and 2, the vehicle 1 according to the presentembodiment is configured with a four-wheeled vehicle having two frontvehicle wheels 3F on the left and right and two rear vehicle wheels 3Ron the left and right. Hereinafter, for simplification, the frontvehicle wheels 3F and the rear vehicle wheels 3R may be collectivelyreferred to as vehicle wheels 3. In the embodiment, sideslip angles ofsome or all of the four vehicle wheels are changed (turned) according toan operation on the steering portion 303 a.

The vehicle 1 is equipped with a plurality of (four in the exampleillustrated in FIGS. 1 and 2) in-vehicle cameras 15 a to 15 d as imagingportions for monitoring the periphery. The in-vehicle camera 15 a isprovided at a rear end 2 e of a vehicle body 2 (for example, below arear trunk door 2 h), and images a rearward region of the vehicle 1. Thein-vehicle camera 15 b is provided on a side-view mirror 2 g at a rightend 2 f of the vehicle body 2, and images a rightward region of thevehicle 1. The in-vehicle camera 15 c is provided at a front end 2 c(for example, a front bumper) of the vehicle body 2, and images afrontward region of the vehicle 1. The in-vehicle camera 15 d isprovided on a side-view mirror 2 g at a left end 2 d of the vehicle body2, and images a leftward region of the vehicle 1. Hereinafter, forsimplification, the in-vehicle cameras 15 a to 15 d will be collectivelyreferred to as the in-vehicle camera 15 in some cases.

The in-vehicle camera 15 is a so-called digital camera having an imagingelement such as a charge coupled device (CCD) or a complementary metaloxide semiconductor (CMOS) image sensor. The in-vehicle camera 15 imagesthe surroundings (periphery) of the vehicle 1 at a predetermined framerate, and outputs image data of a captured image obtained through theimaging. The image data obtained by the in-vehicle camera 15 may form amoving image as a frame image.

FIG. 3 is an exemplary and schematic block diagram illustrating thesystem configuration of the vehicle according to the first embodiment.

Next, with reference to FIG. 3, a system configuration provided forrealizing various types of control in the vehicle 1 according to theembodiment will be described. The system configuration illustrated inFIG. 3 is only an example, and may be variously set (changed).

As illustrated in FIG. 3, the vehicle 1 according to the presentembodiment includes a braking system 301, an acceleration system 302, asteering system 303, a shift system 304, an obstacle sensor 305, and atraveling state sensor 306, the in-vehicle camera 15, the monitor device11, a control device 310, and an in-vehicle network 350.

The braking system 301 controls deceleration of the vehicle 1. Thebraking system 301 includes the braking portion 301 a, a braking controlportion 301 b, and a braking portion sensor 301 c.

The braking portion 301 a is a device for decelerating the vehicle 1,such as the above-described brake pedal.

The braking control portion 301 b is, for example, a microcomputerhaving a hardware processor such as a central processing unit (CPU). Thebraking control portion 301 b controls, for example, the extent ofdeceleration of the vehicle 1 by driving an actuator (not illustrated)and operating the braking portion 301 a on the basis of an instructionthat is input via the in-vehicle network 350.

The braking portion sensor 301 c is a sensing device that detects astate of the braking portion 301 a. For example, in a case where thebraking portion 301 a is configured with a brake pedal, the brakingportion sensor 301 c detects a position of the brake pedal or thepressure acting on the brake pedal as a state of the braking portion 301a. The braking portion sensor 301 c outputs the detected state of thebraking portion 301 a to the in-vehicle network 350.

The acceleration system 302 controls acceleration of the vehicle 1. Theacceleration system 302 has the acceleration portion 302 a, anacceleration control portion 302 b, and an acceleration portion sensor302 c.

The acceleration portion 302 a is a device for accelerating the vehicle1, such as the accelerator pedal described above.

The acceleration control portion 302 b is configured with, for example,a microcomputer having a hardware processor such as a CPU. Theacceleration control portion 302 b controls, for example, the extent ofacceleration of the vehicle 1 by driving an actuator (not illustrated)and operating the acceleration portion 302 a on the basis of aninstruction that is input via the in-vehicle network 350.

The acceleration portion sensor 302 c is a sensing device that detects astate of the acceleration portion 302 a. For example, in a case wherethe acceleration portion 302 a is configured with an accelerator pedal,the acceleration portion sensor 302 c detects a position of theaccelerator pedal or the pressure acting on the accelerator pedal. Theacceleration portion sensor 302 c outputs the detected state of theacceleration portion 302 a to the in-vehicle network 350.

The steering system 303 controls an advancing direction of the vehicle1. The steering system 303 includes the steering portion 303 a, asteering control portion 303 b, and a steering portion sensor 303 c.

The steering portion 303 a is a device that turns the turning wheels ofthe vehicle 1, such as the above-described steering wheel or handle.

The steering control portion 303 b is configured with, for example, amicrocomputer having a hardware processor such as a CPU. The steeringcontrol portion 303 b controls, for example, an advancing direction ofthe vehicle 1 by driving an actuator (not illustrated) and operating thesteering portion 303 a on the basis of an instruction that is input viathe in-vehicle network 350.

The steering portion sensor 303 c is a sensing device that detects astate of the steering portion 303 a, that is, a steering angle sensorthat detects a steering angle of the steering portion 303 a. Forexample, in a case where the steering portion 303 a is configured with asteering wheel, the steering portion sensor 303 c detects a position ofthe steering wheel or a rotation angle of the steering wheel. In a casewhere the steering portion 303 a is configured with a handle, thesteering portion sensor 303 c may detect a position of the handle or thepressure acting on the handle. The steering portion sensor 303 c outputsthe detected state of the steering portion 303 a to the in-vehiclenetwork 350.

The shift system 304 controls a gear ratio of the vehicle 1. The shiftsystem 304 includes the shift portion 304 a, a shift control portion 304b, and a shift portion sensor 304 c.

The shift portion 304 a is a device that changes a gear ratio of thevehicle 1, such as the shift lever described above.

The shift control portion 304 b is configured with a computer having ahardware processor such as a CPU. The shift control portion 304 bcontrols, for example, a gear ratio of the vehicle 1 by driving anactuator (not illustrated) operating the shift portion 304 a on thebasis of an instruction that is input via the in-vehicle network 350.

The shift portion sensor 304 c is a sensing device that detects a stateof the shift portion 304 a. For example, in a case where the shiftportion 304 a is configured with a shift lever, the shift portion sensor304 c detects a position of the shift lever or the pressure acting onthe shift lever. The shift portion sensor 304 c outputs the detectedstate of the shift portion 304 a to the in-vehicle network 350.

The obstacle sensor 305 is a sensing device that detects informationregarding an object (obstacle) that may be present around the vehicle 1.The obstacle sensor 305 includes, for example, a range finding sensorthat acquires a distance to an object present around the vehicle 1. Therange finding sensor may employ, for example, a sonar that transmits asound wave and obtains a distance by receiving a sound wave reflected byan object present around the vehicle 1, or a laser radar that transmitsa radio wave such as light and acquires a distance by receiving a radiowave reflected by an object present around the vehicle 1. The obstaclesensor 305 outputs the detected information to the in-vehicle network350.

The traveling state sensor 306 is a device that detects a travelingstate of the vehicle 1. The traveling state sensor 306 is, for example,a vehicle wheel sensor that detects a vehicle wheel speed of the vehicle1, an acceleration sensor that detects an acceleration of the vehicle 1in a front-rear direction or a leftward-rightward direction, or a gyrosensor that detects a turning speed (angular speed) of the vehicle 1.The traveling state sensor 306 outputs the detected traveling state tothe in-vehicle network 350.

The control device 310 is a device that integrally controls varioussystems provided in the vehicle 1. As details will be described later,the control device 310 according to the present embodiment has afunction of generating a display image that is a stereoscopic image ofthe vehicle 1 and the periphery thereof on the basis of image data(captured image) as a result of imaging in the in-vehicle camera 15, anddisplaying the generated display image on the display portion 8.

In the present embodiment, the display image is a stereoscopic image inwhich a three-dimensional space having a vehicle image that is astereoscopic image of the vehicle 1 and a projection region that islocated around the vehicle image and onto which a captured image isprojected through projection conversion is viewed from a viewpointlocated obliquely above the vehicle image. Alternatively, the displayimage may be a captured image obtained by imaging with the in-vehiclecamera 15.

The control device 310 is configured with an electronic control unit(ECU) including a central processing unit (CPU) 310 a, a read onlymemory (ROM) 310 b, a random access memory (RAM) 310 c, a solid statedrive (SSD) 310 d, a display control section 310 e, and a sound controlportion 310 f.

The CPU 310 a is a hardware processor that integrally controls thecontrol device 310. The CPU 310 a reads various control programs(computer programs) stored in the ROM 310 b or the like, and realizesvarious functions according to instructions defined in the variouscontrol programs. Here, the various control programs include a displaycontrol program for realizing the display control process for displayinga display image as described above.

The ROM 310 b is a nonvolatile main storage device that storesparameters and the like necessary for executing the above-describedvarious control programs.

The RAM 310 c is a volatile main storage device that provides a workarea for the CPU 310 a.

The SSD 310 d is a rewritable nonvolatile auxiliary storage device. Inthe control device 310 according to the embodiment, a hard disk drive(HDD) may be provided as an auxiliary storage device instead of the SSD310 d (or in addition to the SSD 310 d).

The display control section 310 e mainly performs image processing on acaptured image obtained from the in-vehicle camera 15 or generates imagedata to be output to the display portion 8 of the monitor device 11among various processes that can be executed by the control device 310.

The sound control portion 310 f mainly generates sound data to be outputto the sound output portion 9 of the monitor device 11 among the variousprocesses that can be executed by the control device 310.

The in-vehicle network 350 communicably connects the braking system 301,the acceleration system 302, the steering system 303, the shift system304, the obstacle sensor 305, the traveling state sensor 306, theoperation input portion 10 of the monitor device 11, and the controldevice 310 to each other.

Meanwhile, various techniques for notifying an occupant of situations ofthe vehicle 1 and the periphery thereof by using the display image havebeen examined. For example, a technique has been examined in which aline (hereinafter, referred to as a contour guide line) representing acontour of the vehicle 1 and a trajectory (hereinafter, a predictedcourse guide line Technology) drawn by an end of the contour guide lineaccording to movement of the vehicle 1 is included in a display image.According to this technique, it is possible to notify an occupant of apositional relationship between the vehicle 1 and an object presentaround the vehicle 1 in a more understandable manner.

However, in the above technique, since the contour guide line isdisplayed at a fixed position with respect to a position of an image ofthe vehicle 1 in the display image, in a case where an image of anobject (obstacle) floating from a road surface is included in thedisplay image, there is a probability that an occupant who sees thedisplay image may misunderstand a distance from the vehicle 1 to theobject, and thus the vehicle 1 may collide with the object.

Therefore, in the embodiment, by realizing the vehicle periphery displaydevice 400 having the following function illustrated in FIG. 4 in thecontrol device 310, when the vehicle 1 is turned, in a case where animage of an object floating from a road surface is included in a displayimage, it is achieved to reduce a probability that an occupant who seesthe display image may misunderstand a distance from the vehicle 1 to theobject, and thus the vehicle 1 may collide with the object.

FIG. 4 is an exemplary and schematic block diagram of a functionalconfiguration of the vehicle periphery display device of the vehicleaccording to the first embodiment.

Next, with reference to FIG. 4, a description will be made of an exampleof a functional configuration of the vehicle periphery display device400 according to the present embodiment.

Functions illustrated in FIG. 4 are realized in the control device 310by software and hardware in cooperation. That is, the functionsillustrated in FIG. 4 are realized as a result of the CPU 310 a of thecontrol device 310 reading and executing a predetermined control programstored in the ROM 310 b or the like.

In the present embodiment, the functions illustrated in FIG. 4 arerealized by the software and hardware in cooperation, but are notlimited thereto, and at least one of the functions illustrated in FIG. 4may be realized by dedicated hardware (circuit).

The vehicle periphery display device 400 according to the presentembodiment has an acquisition portion 401 and a display processingportion 402, as illustrated in FIG. 4.

The acquisition portion 401 acquires image data of a captured image fromthe in-vehicle camera 15. The acquisition portion 401 also acquires asteering angle detected by the steering portion sensor 303 c. Theacquisition portion 401 acquires an object detection result from theobstacle sensor 305.

The display processing portion 402 generates a display image that is astereoscopic image of the vehicle 1 and the periphery thereof on thebasis of a captured image acquired by the acquisition portion 401. Thedisplay processing portion 402 causes the generated display image to bedisplayed on the display portion 8.

In the present embodiment, the display image is a stereoscopic image inwhich a three-dimensional space having a vehicle image (for example, animage of the vehicle 1 formed of a polygonal shape) that is astereoscopic image of the vehicle 1 and a projection region that islocated around the vehicle image and onto which a captured image isprojected through projection conversion is viewed from a predeterminedviewpoint. Here, the predetermined viewpoint is a preset viewpointlocated obliquely above the vehicle image. The display image may be acaptured image obtained by imaging with the in-vehicle camera 15, asdescribed above. The display processing portion 402 may cause an imageobtained by three-dimensionally restoring the vehicle 1 and theperiphery thereof to be displayed as a display image on the displayportion 8. Specifically, the display processing portion 402 maythree-dimensionally restore the vehicle 1 and the periphery thereof byusing a captured image obtained through imaging in the in-vehicle camera15 or a result of the obstacle sensor 305 (for example, a sonar or aradar) detecting an object around the vehicle 1, and may cause an imagerepresented by dots or lines to be displayed on the display portion 8 asa display image.

The display processing portion 402 causes the contour guide line and thepredicted course guide line to be included in the display image. Here,the contour guide line is a line representing a contour of the vehicle1, that is, a contour line of the vehicle 1. Specifically, the contourguide line is a line along the contour of the vehicle 1 in a vehiclewidth direction of the vehicle 1 and a direction parallel to anadvancing direction of the vehicle 1. The predicted course guide line isa trajectory drawn by the contour guide line according to movement ofthe vehicle 1.

In the present embodiment, the display processing portion 402 causes thecontour guide line and the predicted course guide line to be included ina three-dimensional space. The display processing portion 402 generates,as a display image, a stereoscopic image in which the three-dimensionalspace including the contour guide line and the predicted course guideline is viewed from a predetermined viewpoint.

In the present embodiment, the display processing portion 402 causesboth the contour guide line and the predicted course guide line to beincluded in the three-dimensional space, but is not limited thereto aslong as at least one of the contour guide line and the predicted courseguide line is included in the three-dimensional space.

In a case where the vehicle 1 is turned, the display processing portion402 changes positions of the contour guide line and the predicted courseguide line to be present above a road surface (in the presentembodiment, above positions of the contour guide line and the predictedcourse guide line in a case where the vehicle 1 advances straight).Consequently, in a case where the display image including the image ofthe object floating from the road surface is displayed on the displayportion 8, the contour guide line and the predicted course guide linecan be displayed in the display image at a position of an image of theobject floating from the road surface or a position close thereto. As aresult, in a case where there is an object floating from the roadsurface, it becomes easier to understand a positional relationshipbetween the object and the vehicle 1, and it is possible to reduce aprobability that an occupant who sees the display image maymisunderstand a distance from the vehicle 1 to an obstacle and thus thevehicle 1 may collide with the obstacle. That is, the vehicle 1 can passthrough the object more safely.

In the present embodiment, the display processing portion 402 changesthe positions of both the contour guide line and the predicted courseguide line in a case where the vehicle 1 is turned, but is not limitedthereto as long as at least one of positions of the contour guide lineand the predicted course guide line is changed. In the presentembodiment, the display processing portion 402 changes the positions ofthe contour guide line and the expected course guide line in a casewhere the vehicle 1 is turned, but may change the positions of thecontour guide line and the predicted course guide line to be presentabove the road surface even in a case where the vehicle 1 advancesstraight.

FIG. 5 is a diagram for describing an example of a process in which acaptured image is projected onto a three-dimensional space by thevehicle periphery display device of the vehicle according to the firstembodiment. FIG. 6 is a diagram for describing an example of a processin which a contour guide line and a predicted course guide line aredrawn in a three-dimensional space by the vehicle periphery displaydevice of the vehicle according to the first embodiment. FIGS. 7A and 7Bare diagrams for describing an example of a process in which positionsof the contour guide line and the predicted course guide line arechanged by the vehicle periphery display device of the vehicle accordingto the first embodiment.

Next, with reference to FIGS. 5 to 7B, a description will be made of anexample of process in which a display image is generated by the vehicleperiphery display device 400.

As illustrated in FIG. 5, the acquisition portion 401 acquires acaptured image G1 obtained by imaging the rearward of the vehicle 1 withthe in-vehicle camera 15 a, a captured image G2 obtained by imaging therightward of the vehicle 1 with the in-vehicle camera 15 b, a capturedimage G3 obtained by imaging the frontward of the vehicle 1 with thein-vehicle camera 15 c, and a captured image G4 obtained by imaging theleftward of the vehicle 1 with the in-vehicle camera 15 d.

Next, the display processing portion 402 projects the captured images G1to G4 onto the three-dimensional space VS through projection conversion.Here, as illustrated in FIG. 5, the three-dimensional space VS is astereoscopic space including a vehicle image VG which is a stereoscopicimage of the vehicle 1 and a projection region TR around the vehicleimage VG. In the present embodiment, the projection region TR has aprojection surface TR1 (hereinafter, referred to as a plane projectionregion) that is horizontal to the vehicle image VG and a projectionregion TR2 (hereinafter, referred to as a stereoscopic projectionregion) that rises above the plane projection region TR1.

Specifically, as illustrated in FIG. 5, the display processing portion402 converts each coordinate in each of the captured images G1 to G4into a coordinate in the projection region TR through projectionconversion. Next, the display processing portion 402 projects an imageat each coordinate in each of the captured images G1 to G4 to a positionrepresented by the coordinate subjected to the projection conversionfrom each coordinate in the projection region TR. Consequently, thedisplay processing portion 402 projects the captured images G1 to G4onto the projection region TR.

As illustrated in FIG. 6, the display processing portion 402 causes acontour guide line L1 and a predicted course guide line L2 to beincluded in the three-dimensional space VS. In the present embodiment,the display processing portion 402 causes a line that represents a part(for example, a corner) of the contour of the vehicle 1 to be displayedas the contour guide line L1 as illustrated in FIG. 6, but is notlimited thereto, and may cause a line representing the entire contour ofthe vehicle 1 to be displayed as the contour guide line L1.

In the present embodiment, as illustrated in FIG. 6, the contour guideline L1 has a margin in the vehicle width direction D1 of a vehicleimage (hereinafter, referred to as a vehicle width direction margin) anda margin in the advancing direction D2 of the vehicle image(hereinafter, referred to as an advancing direction margin) with respectto a contour of the vehicle image. In the present embodiment, thecontour guide line L1 has the vehicle width direction margin and theadvancing direction margin, but may not have the vehicle width directionmargin and the advancing direction margin.

Meanwhile, as illustrated in FIG. 6, in a case where the captured imagesG1 to G4 including an image OG (hereinafter, referred to as an obstacleimage; for example, a bumper of another vehicle) of an obstacle O(object) floating from the road surface are projected onto theprojection region TR through projection conversion, as illustrated inFIG. 6, the obstacle image OG is projected on the three-dimensionalspace VS as if the obstacle image is located at a position farther fromthe vehicle image VG than a position P where the obstacle O in the realspace RS is present.

As illustrated in FIG. 6, the obstacle image OG of the obstacle floatingfrom the road surface is not continued with an image RG of the roadsurface at the position P where the obstacle O is present in the realspace RS. Therefore, an occupant who sees the display image in which thethree-dimensional space VS is viewed from a predetermined viewpoint maymisunderstand that the obstacle O is present at a position farther fromthe vehicle 1 than the position at which the obstacle O is present inthe real space RS.

Therefore, in a case where the vehicle 1 is turned, as illustrated inFIG. 7A, the display processing portion 402 changes positions of thecontour guide line L1 and the predicted course guide line L2 upward by apredetermined height H in an upward-downward direction of the vehicleimage VG in the three-dimensional space VS. Here, the predeterminedheight H corresponds to a height (for example, 60 to 70 cm) of an end(for example, a bumper) of the vehicle 1 in the advancing direction or aheight of the obstacle O present around the vehicle 1. Consequently, thecontour guide line L1 and the predicted course guide line L2 can bedisplayed at a location that is likely to collide with the obstacle O inthe contour of the vehicle 1. As a result, the vehicle 1 can passthrough the obstacle O more safely.

In the present embodiment, in a case where the vehicle 1 is turned, thedisplay processing portion 402 changes positions of the contour guideline L1 and the predicted course guide line L2 by the predeterminedheight H upward regardless of a steering angle of the vehicle 1, but maychange the positions of the contour guide line L1 and the predictedcourse guide line L2 upward depending on the steering angle of thevehicle 1. In the present embodiment, the display processing portion 402changes the positions of the contour guide line L1 and the predictedcourse guide line L2 upward by the predetermined height H, but maychange the positions of the contour guide line L1 and the predictedcourse guide line L2 upward, for example, by a height corresponding to aheight of the highest portion of the vehicle 1.

The display processing portion 402 causes a stereoscopic image in whichthe three-dimensional space VS whose positions of the contour guide lineL1 and the predicted course guide line L2 have been changed upward isviewed from a predetermined viewpoint, to be displayed as a displayimage, on the display portion 8. In other words, in a case where thevehicle 1 is turned, the display processing portion 402 draws thecontour guide line L1 and the predicted course guide line L2 in adisplay image such that the contour guide line L1 and the predictedcourse guide line L2 are present above the road surface by thepredetermined height H in the display image.

Consequently, in a case where the display image including the obstacleimage OG floating from the road surface is displayed on the displayportion 8, the contour guide line L1 and the predicted course guide lineL2 can be displayed at a position of being likely to come into contactwith the vehicle 1 in the obstacle image OG included in the displayimage. As a result, in a case where there is the obstacle O floatingfrom the road surface, a positional relationship between the obstacle Oand the vehicle 1 can be easily understood, and thus it is possible toreduce a probability that an occupant who sees the display image maymisunderstand a distance from the vehicle 1 to the obstacle, and thusthe vehicle 1 may collide with the obstacle. That is, the vehicle 1 canpass through the obstacle O more safely.

On the other hand, in a case where the vehicle 1 advances straight, thedisplay processing portion 402 draws (projects) the contour guide lineL1 and the predicted course guide line L2 in the projection region TR.Consequently, in a case where the vehicle 1 advances straight, thedisplay processing portion 402 draws the contour guide line L1 and thepredicted course guide line L2 in a display image such that the contourguide line L1 and the predicted course guide line L2 are present on theroad surface.

In the present embodiment, in a case where the vehicle 1 advancesstraight, the display processing portion 402 draws the contour guideline L1 and the predicted course guide line L2 in a display image suchthat the contour guide line L1 and the predicted course guide line L2are present on the road surface, but may draw the contour guide line L1and the predicted course guide line L2 in the display image such thatthe contour guide line L1 and the predicted course guide line L2 arepresent above the road surface by the predetermined height H in thedisplay image even in a case where the vehicle 1 advances straight.

In the present embodiment, the display processing portion 402 determinesthat the vehicle 1 is turned in a case where a steering angle acquiredby the acquisition portion 401 is equal to or more than a predeterminedsteering angle, and draws the contour guide line L1 and the predictedcourse guide line L2 to be present above the road surface in a displayimage. Consequently, it is possible to prevent positions of the contourguide line L1 and the predicted course guide line L2 from being changedeven though a steering angle of the vehicle 1 is small. Here, thepredetermined steering angle is a preset steering angle, and is asteering angle from which the vehicle 1 is determined as being turned.

In the present embodiment, the display processing portion 402 graduallychanges positions of the contour guide line L1 and the predicted courseguide line L2 in a case where the vehicle 1 is turned. Consequently,when the positions of the contour guide line L1 and the predicted courseguide line L2 are changed, it is possible to reduce that an occupantfeels uncomfortable due to the positions of the contour guide line L1and the predicted course guide line L2 abruptly being changed.

In this case, as the contour guide line L1 and the predicted courseguide line L2 approach a target height (a predetermined height in thepresent embodiment), the display processing portion 402 may reduce aspeed of changing the positions of the contour guide line L1 and thepredicted course guide line L2. Consequently, when the positions of thecontour guide line L1 and the predicted course guide line L2 arechanged, it is possible to further reduce that an occupant feelsuncomfortable due to the positions of the contour guide line L1 and thepredicted course guide line L2 abruptly being changed.

In the present embodiment, the display processing portion 402 may changepositions of the contour guide line L1 and the predicted course guideline L2 according to a change in a steering angle of the vehicle 1regardless of whether or not the steering angle of the vehicle 1 isequal to or more than a predetermined steering angle. Specifically, thedisplay processing portion 402 increases a change amount of thepositions of the contour guide line L1 and the predicted course guideline L2 as the steering angle (absolute value) of the vehicle 1increases.

In the present embodiment, the display processing portion 402 causesboth of the contour guide line L1 and the predicted course guide line L2whose positions have not been changed (hereinafter, referred to as guidelines L1 and L2 before being changed) and the contour guide line L1 andthe predicted course guide line L2 whose positions have been changed(hereinafter, referred to as guide lines L1 and L2 after being changed)to be included in a display image, but at least the guide lines L1 andL2 after being changed may be included in the display image.

In other words, the display processing portion 402 may leave the guidelines L1 and L2 before being changed in the display image in a casewhere the vehicle 1 is turned. Consequently, it is possible to easilyrecognize that the positions of the contour guide line L1 and thepredicted course guide line L2 have been changed, and thus to prompt anoccupant to drive the vehicle 1 along the guide lines L1 and L2 afterbeing changed. As a result, the vehicle 1 can pass through the obstacleO more safely.

In a case where both the guide lines L1 and L2 before being changed andthe guide lines L1 and L2 after being changed are included in a displayimage, the display processing portion 402 may make display modes of thetwo different from each other. For example, the display processingportion 402 causes the guide lines L1 and L2 before being changed grayand displays the guide lines L1 and L2 after being changed to bedisplayed in color.

Consequently, in a case where both the guide lines L1 and L2 beforebeing changed and the guide lines L1 and L2 after being changed areincluded in the display image, it is possible to easily determinewhether to operate the vehicle 1 along which ones of the contour guidelines L1 and the predicted course guide lines L2. As a result, it ispossible to further reduce a probability that an occupant who sees thedisplay image may misunderstand a distance from the vehicle 1 to anobstacle and thus the vehicle 1 may collide with the obstacle.

In the present embodiment, the display processing portion 402 usesdifferent colors for the guide lines L1 and L2 before being changed andthe guide lines L1 and L2 after being changed, but is not limitedthereto as long as display modes of the guide lines L1 and L2 beforebeing changed and the guide lines L1 and L2 after being changed aredifferent from each other. For example, the display processing portion402 causes the guide lines L1 and L2 after being changed to be displayed(drawn) with solid lines, and causes the guide lines L1 and L2 beforebeing changed to be displayed (drawn) with dashed lines.

In the present embodiment, the display processing portion 402 may alsomake display modes of the contour guide line L1 and the predicted courseguide line L2 whose positions have been changed different from eachother. For example, the display processing portion 402 causes thecontour guide line L1 whose position has been changed to be displayed inblue, and causes the predicted course guide line L2 whose position hasbeen changed to be displayed in yellow.

In the present embodiment, the display processing portion 402 changespositions of the contour guide line L1 and the predicted course guideline L2 in the three-dimensional space VS regardless of whether or notthe obstacle O is detected by the obstacle sensor 305, but is notlimited thereto.

Specifically, in a case where the obstacle O is detected by the obstaclesensor 305, the display processing portion 402 changes positions of thecontour guide line L1 and the predicted course guide line L2 upward inthe three-dimensional space VS. On the other hand, in a case where theobstacle O is not detected by the obstacle sensor 305, the displayprocessing portion 402 does not change the positions of the contourguide line L1 and the predicted course guide line L2 upward in thethree-dimensional space VS.

In other words, in a case where the obstacle O is detected by theobstacle sensor 305, the display processing portion 402 changes thepositions of the contour guide line L1 and the predicted course guideline L2 in the display image. Consequently, an occupant of the vehicle 1can intuitively recognize that the obstacle O is present in a course ofthe vehicle 1, and thus it is possible to further reduce a probabilitythat the vehicle 1 may collide with the obstacle O.

In the present embodiment, the display processing portion 402 makes adisplay mode of the guide lines L1 and L2 after being changed differentfrom a display mode of the guide lines L1 and L2 before being changedregardless of whether or not the obstacle O is detected by the obstaclesensor 305, but is not limited thereto.

Specifically, in a case where the obstacle O is detected by the obstaclesensor 305, the display processing portion 402 causes the guide lines L1and L2 after being changed to be displayed in color (or blinking). Onthe other hand, in a case where the obstacle O is not detected by theobstacle sensor 305, the display processing portion 402 causes the guidelines L1 and L2 after being changed to be displayed in gray.

In other words, the display processing portion 402 changes display modesof the contour guide line L1 and the predicted course guide line L2 in adisplay image according to whether or not the obstacle O is detected bythe obstacle sensor 305. Consequently, an occupant of the vehicle 1 canintuitively recognize that the obstacle O is present in a course of thevehicle 1, and thus it is possible to further reduce a probability thatthe vehicle 1 may collide with the obstacle O.

Also in a case where a captured image (for example, a front view)obtained by imaging with the in-vehicle camera 15 (for example, thein-vehicle camera 15 c) is displayed on the display portion 8 as thedisplay image G, the display processing portion 402 changes positions ofthe contour guide line L1 and the predicted course guide line L2 in thecaptured image (display image G) such that the contour guide line L1 andthe predicted course guide line L2 are present above the road surfacewhen the vehicle 1 is turned. Specifically, when the vehicle 1 isturned, as illustrated in FIG. 7B, the display processing portion 402changes positions of the contour guide line L1 and the predicted courseguide line L2 included in the captured image (display image G) upward bythe predetermined height H.

As described above, according to the vehicle 1 of the first embodiment,in a case where a display image including an image of an object floatingfrom a road surface is displayed on the display portion 8, the contourguide line and the predicted course guide line can be displayed at ornear a position of the image of the object floating from the roadsurface in the display image. As a result, in a case where there is anobject floating from the road surface, it becomes easier to understand apositional relationship between the object and the vehicle 1, and it ispossible to reduce a probability that an occupant who sees the displayimage may misunderstand a distance from the vehicle 1 to an obstacle andthus the vehicle 1 may collide with the obstacle. That is, the vehicle 1can pass through the object more safely.

Second Embodiment

The present embodiment is an example in which a viewpoint of a displayimage is changed according to a turning direction of the vehicle 1 in acase where a stereoscopic image of a vehicle and the periphery thereofis displayed as the display image. In the following description, adescription of the same configuration as that in the first embodimentwill not be repeated.

In the present embodiment, in a case where the vehicle 1 advancesstraight, the display processing portion 402 moves a predeterminedviewpoint to a reference viewpoint located behind a vehicle image and atthe center of the vehicle image in the vehicle width direction, andgenerates, as a display image, a stereoscopic image in which athree-dimensional space is viewed from the predetermined viewpoint movedto the reference viewpoint. The display processing portion 402 displaysthe generated display image on the display portion 8.

Consequently, in a case where the vehicle 1 advances straight, it ispossible to display a display image in which a vehicle width of thevehicle 1 is easily recognized. As a result, in a case where the vehicle1 advances straight, it is possible to easily understand a positionalrelationship with an object present on the sideward of the vehicle 1.

In the present embodiment, in a case where the vehicle 1 is turned, thedisplay processing portion 402 moves a predetermined viewpoint to aviewpoint (hereinafter, referred to as a target viewpoint) shiftedtoward an opposite side to a turning direction of the vehicle 1 withrespect to a reference viewpoint. The display processing portion 402generates, as a display image, a stereoscopic image in which athree-dimensional space is viewed from the predetermined viewpoint movedto the target viewpoint. The display processing portion 402 causes thegenerated display image to be displayed on the display portion 8.

Consequently, in a case where the vehicle 1 is turned, it is possible todisplay a display image in which a location where an occupant is to becareful about contact with an object during turning of the vehicle 1 isseen. As a result, in a case where the vehicle 1 is turned, the vehicle1 can travel more safely without contact with an object.

FIG. 8 is a diagram for describing an example of a process in which adisplay image is displayed by the vehicle periphery display device ofthe vehicle according to the second embodiment.

Next, with reference to FIG. 8, a description will be made of an exampleof a process in which a display image is displayed by the vehicleperiphery display device 400.

In a case where the vehicle 1 advances straight (in a case where asteering angle of the vehicle 1 is 0 degrees), as illustrated in FIG. 8,the display processing portion 402 causes a stereoscopic image in whichthe three-dimensional space VS is viewed from a predetermined viewpointthat is moved to a reference viewpoint, to be displayed on the displayportion 8 as the display image G.

In a case where the vehicle 1 is turned to the right, as illustrated inFIG. 8, the display processing portion 402 causes a stereoscopic imagein which the three-dimensional space VS is viewed from a predeterminedviewpoint that is moved to a left-shifted target viewpoint from areference viewpoint to be displayed on the display portion 8 as thedisplay image G.

In a case where the vehicle 1 is turned to the left, as illustrated inFIG. 8, the display processing portion 402 causes a stereoscopic imagein which the three-dimensional space VS is viewed from a predeterminedviewpoint that is moved to a right-shifted target viewpoint from areference viewpoint to be displayed on the display portion 8 as thedisplay image G.

In the present embodiment, in a case where a steering angle of thevehicle 1 is equal to or more than a predetermined steering angle, thedisplay processing portion 402 moves a predetermined viewpoint to atarget viewpoint shifted toward an opposite side to a turning directionof the vehicle 1 with respect to a reference viewpoint. In this case,the display processing portion 402 may gradually move the predeterminedviewpoint toward the target viewpoint. When gradually moving thepredetermined viewpoint toward the target viewpoint, the displayprocessing portion 402 may reduce a speed at which the predeterminedviewpoint is changed as the predetermined viewpoint comes closer to thetarget viewpoint.

In the present embodiment, the display processing portion 402 may obtaina target viewpoint according to a steering angle of the vehicle 1 andmay cause a stereoscopic image in which the three-dimensional space VSis viewed from a predetermined viewpoint moved to the target viewpointto be displayed on the display portion 8 as the display image Gregardless of whether the steering angle of the vehicle 1 is equal to ormore than a predetermined steering angle.

Specifically, the display processing portion 402 obtains a horizontalangle according to the following Equation (1).Horizontal angle=steering angle of vehicle 1×conversion coefficient  (1)

Here, the horizontal angle is an angle by which a predeterminedviewpoint is shifted in a horizontal direction from a referenceviewpoint with respect to an advancing direction D2 of the vehicle 1.The conversion coefficient is a coefficient set in advance.

Next, the display processing portion 402 obtains, as the targetviewpoint, a viewpoint shifted from the reference viewpoint in thehorizontal direction by the obtained horizontal angle with respect tothe advancing direction D2 of the vehicle 1. The display processingportion 402 causes a stereoscopic image in which the three-dimensionalspace VS is viewed from a predetermined viewpoint that is moved to thetarget viewpoint, to be displayed on the display portion 8 as thedisplay image G.

For example, in a case where a steering angle of the vehicle 1 becomes−300 degrees and the vehicle 1 is turned to the right, the displayprocessing portion 402 obtains the horizontal angle=−40 degrees by usingthe above Equation (1). As illustrated in FIG. 8, the display processingportion 402 causes a stereoscopic image in which the three-dimensionalspace VS is viewed from a predetermined viewpoint that is moved to atarget viewpoint shifted by −40 degrees in the horizontal direction fromthe reference viewpoint with respect to the advancing direction D2 ofthe vehicle 1 to be displayed on the display portion 8 as the displayimage G.

For example, in a case where a steering angle of the vehicle 1 is +300degrees and the vehicle 1 is turned to the left, the display processingportion 402 obtains the horizontal angle=+40 degrees by using the aboveEquation (1). As illustrated in FIG. 8, the display processing portion402 causes a stereoscopic image in which the three-dimensional space VSis viewed from a predetermined viewpoint that is moved to a targetviewpoint shifted by +40 degrees in the horizontal direction from thereference viewpoint with respect to the advancing direction D2 of thevehicle 1 to be displayed on the display portion 8 as the display imageG.

FIG. 9 is a diagram for describing another example of a process in whicha display image is displayed by the vehicle periphery display device ofthe vehicle according to the second embodiment.

Next, a description will be made of an example of a process in which thedisplay image G is displayed by the vehicle periphery display device 400when the vehicle 1 travels forward and backward with reference to FIG.9.

In a case where the vehicle 1 advances straight, as illustrated in FIG.9, the display processing portion 402 causes a stereoscopic image inwhich the three-dimensional space VS is viewed from a predeterminedviewpoint that is moved to a reference viewpoint to be displayed on thedisplay portion 8 as the display image G when the vehicle 1 travels bothforward and backward.

Also in a case where the vehicle 1 is turned, as illustrated in FIG. 9,the display processing portion 402 causes a stereoscopic image in whichthe three-dimensional space VS is viewed from a predetermined viewpointthat is moved to a target viewpoint shifted toward an opposite side to aturning direction of the vehicle 1 with respect to a reference viewpointto be displayed as the display image G when the vehicle 1 travels bothforward and backward.

However, in a case where the vehicle 1 travels backward, as illustratedin FIG. 9, the display processing portion 402 may cause a stereoscopicimage in which the three-dimensional space VS is viewed from apredetermined viewpoint further behind the vehicle image VG than in acase where the vehicle 1 advances straight, to be displayed on thedisplay portion 8 as the display image G. Consequently, a rearwardvisual field of the vehicle image VG in the display image G can bewidened. As a result, traveling safety can be improved when the vehicle1 travels backward.

In the present embodiment, the display processing portion 402 moves apredetermined viewpoint regardless of whether or not an obstacle isdetected by the obstacle sensor 305, but may move a predeterminedviewpoint only in a case where an obstacle is detected by the obstaclesensor 305. Consequently, it is possible to easily understand whether ornot there is an obstacle around the vehicle 1 depending on whether ornot a predetermined viewpoint has been moved.

FIGS. 10A and 10B are diagrams for describing an example of a process inwhich the contour guide line and the predicted course guide line aredisplayed by the vehicle periphery display device of the vehicleaccording to the second embodiment.

Next, with reference to FIGS. 10A and 10B, a description will be made ofan example of a process of displaying the contour guide line L1 and thepredicted course guide line L2.

As illustrated in FIG. 10A, in a case where the vehicle 1 is turned (forexample, in a case where the vehicle 1 is turned to the right), when apredetermined viewpoint is shifted toward an opposite side to a turningdirection of the vehicle 1 with respect to a reference viewpoint, thepredicted course guide line L2 whose position has not been changed(hereinafter, referred to as a predicted course guide line L2 beforebeing changed) may be displayed outside the predicted course guide lineL2 whose position has been changed (hereinafter, referred to as apredicted course guide line L2 after being changed).

In this case, when the vehicle 1 travels along the predicted courseguide line L2 after being changed, it seems that the vehicle 1 does notcollide with an obstacle. However, in order to reduce a probability ofcollision between the vehicle 1 and an object, it is preferable todetermine whether or not the vehicle 1 collides with an object accordingto the predicted course guide line L2 located outside in a centerdirection of a circular arc drawn by the vehicle 1 (for example, thevehicle wheel of the vehicle 1) when the vehicle 1 is turned.

Therefore, in the present embodiment, in a case where the vehicle 1 isturned, as illustrated in FIG. 10B, the display processing portion 402moves a predetermined viewpoint to a target viewpoint at which thepredicted course guide line L2 after being changed is located furthertoward a rotation center side of the vehicle image VG than the predictedcourse guide line L2 before being changed in the display image G. Inother words, the display processing portion 402 moves the predeterminedviewpoint to the target viewpoint at which the predicted course guideline L2 after being changed is displayed outside the predicted courseguide line L2 before being changed in the center direction of thecircular arc drawn by the vehicle 1 (for example, the vehicle wheels ofthe vehicle 1).

For example, in a case where a steering angle of the vehicle 1 reaches apredetermined threshold value (for example, 15 degrees), the displayprocessing portion 402 terminates the movement of the predeterminedviewpoint, and does not move the predetermined viewpoint even though thesteering angle of the vehicle 1 is increased. Here, the predeterminedthreshold value is a steering angle at which the predicted course guideline L2 before being changed is displayed outside the predicted courseguide line L2 after being changed.

Consequently, it is possible to prevent the predicted course guide lineL2 after being changed from being displayed inside the predicted courseguide line L2 before being changed. As a result, in the process in whicha steering angle of the vehicle 1 is being increased, it is possible toreduce a probability that the vehicle 1 may collide with an obstacle dueto a misunderstanding that the vehicle 1 will not collide with theobstacle when the vehicle 1 travels along the predicted course guideline L2 after being changed.

In the present embodiment, of the predicted course guide line L2 afterbeing changed and the predicted course guide line L2 before beingchanged, the display processing portion 402 causes the predicted courseguide line L2 located outside in the center direction of the circulararc drawn by the vehicle 1 to be displayed in a highlighted manner. Inother words, in a case where a steering angle of the vehicle 1 reachesthe predetermined threshold value, the display processing portion 402replaces a display mode of the predicted course guide line L2 afterbeing changed and a display mode of the predicted course guide line L2before being changed with each other.

Consequently, in the process in which a steering angle of the vehicle 1is increased and a predetermined viewpoint is moved, even though apositional relationship between the predicted course guide line L2 afterbeing changed and the predicted course guide line L2 before beingchanged in the center direction of the circular arc drawn by the vehicle1 changes, it is possible to reduce a probability that the vehicle 1 maycollide with an obstacle due to a misunderstanding that the vehicle 1will not collide with the obstacle when the vehicle 1 travels along thepredicted course guide line L2 after being changed.

In the present embodiment, the display processing portion 402 causes thepredicted course guide line L2 after being changed to be included in thedisplay image G even after a steering angle of the vehicle 1 reaches thepredetermined threshold value (that is, even after the predicted courseguide line L2 after being changed is displayed inside the predictedcourse guide line L2 before being changed in the center direction of thecircular arc drawn by the vehicle 1), but may delete the predictedcourse guide line L2 after being changed from the display image G afterthe steering angle of the vehicle 1 reaches the predetermined thresholdvalue. Consequently, in the process in which the steering angle of thevehicle 1 is increased and the predetermined viewpoint is moved, it ispossible to reduce a probability that the vehicle 1 may collide with anobstacle due to a misunderstanding that the vehicle 1 will not collidewith the obstacle when the vehicle 1 travels along the predicted courseguide line L2 after being changed.

In the present embodiment, the display processing portion 402 causes thepredicted course guide line L2 before being changed to be included inthe display image G until a steering angle of the vehicle 1 reaches apredetermined threshold value (that is, while the predicted course guideline L2 after being changed is displayed outside the predicted courseguide line L2 before being changed in the center direction of thecircular arc drawn by the vehicle 1), but may delete the predictedcourse guide line L2 before being changed from the display image G untilthe steering angle of the vehicle 1 reaches the predetermined thresholdvalue. In other words, the display processing portion 402 may cause onlythe predicted course guide line L2 displayed outside in the centerdirection of the circular arc drawn by the vehicle 1 to be included inthe display image G of the predicted course guide line L2 before beingchanged and the predicted course guide line L2 after being changed.

As described above, according to the vehicle 1 of the second embodiment,in a case where the vehicle 1 is turned, it is possible to display adisplay image in which a location where an occupant is to be carefulabout contact with an object during turning of the vehicle 1 is seen. Asa result, in a case where the vehicle 1 is turned, the vehicle 1 cantravel more safely without contact with an object.

A vehicle periphery display device according to an embodiment includes,as an example, an acquisition portion that acquires a captured imageobtained by imaging a periphery of a vehicle with an imaging portion;and a display processing portion that causes a display image that is astereoscopic image of the vehicle and the periphery of the vehicle to bedisplayed on a display portion on the basis of the captured image, inwhich the display processing portion causes at least one of a contourguide line representing a contour of the vehicle, and a predicted courseguide line that is a trajectory drawn by the contour guide lineaccording to movement of the vehicle to be included in the displayimage, and changes a position of at least one of the contour guide lineand the predicted course guide line such that the contour guide line andthe predicted course guide line are present above a road surface in acase where the vehicle is turned. Therefore, as an example, in a casewhere there is an object floating from the road surface, it becomeseasier to understand a positional relationship between the object andthe vehicle, and thus it is possible to further reduce a probabilitythat an occupant who sees the display image may misunderstand a distancefrom the vehicle to an obstacle and thus the vehicle may collide withthe obstacle.

In the vehicle periphery display device of the embodiment, as anexample, the display processing portion may cause a stereoscopic imagein which a three-dimensional space having a vehicle image that is astereoscopic image of the vehicle and a projection region that islocated around the vehicle image and onto which the captured image isprojected through projection conversion is viewed from a predeterminedviewpoint located obliquely above the vehicle image, or an imageobtained by three-dimensionally restoring the periphery of the vehicle,to be displayed on the display portion as the display image. Therefore,as an example, in a case where there is an object floating from the roadsurface, it becomes easier to understand a positional relationshipbetween the object and the vehicle, and thus it is possible to furtherreduce a probability that an occupant who sees the display image maymisunderstand a distance from the vehicle to an obstacle and thus thevehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as anexample, the display processing portion may draw at least one of thecontour guide line and the predicted course guide line in the displayimage such that the contour guide line and the predicted course guideline are present on the road surface in a case where the vehicleadvances straight, and draw at least one of the contour guide line andthe predicted course guide line in the display image such that thecontour guide line and the predicted course guide line are present abovethe road surface by a predetermined height in a case where the vehicleis turned. Therefore, as an example, in a case where there is an objectfloating from the road surface, it becomes easier to understand apositional relationship between the object and the vehicle, and thus itis possible to further reduce a probability that an occupant who seesthe display image may misunderstand a distance from the vehicle to anobstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as anexample, the predetermined height may be a height corresponding to aheight of an end of the vehicle in an advancing direction of the vehicleor a height of an object present around the vehicle. Therefore, as anexample, the vehicle can pass through the obstacle more safely.

In the vehicle periphery display device of the embodiment, as anexample, in a case where a steering angle of the vehicle is equal to ormore than a predetermined steering angle, the display processing portionmay determine that the vehicle is turned, and change the position of atleast one of the contour guide line and the predicted course guide line.Therefore, as an example, it is possible to prevent positions of thecontour guide line and the predicted course guide line from beingchanged even though a steering angle of the vehicle is small.

In the vehicle periphery display device of the embodiment, as anexample, in a case where the vehicle is turned, the display processingportion may gradually change the position of at least one of the contourguide line and the predicted course guide line. Therefore, as anexample, when positions of the contour guide line and the predictedcourse guide line are changed, it is possible to reduce that an occupantfeels uncomfortable due to the positions of the contour guide line andthe predicted course guide line abruptly being changed.

In the vehicle periphery display device of the embodiment, as anexample, in a case where the vehicle is turned, the display processingportion may leave at least one of the contour guide line and thepredicted course guide line whose position has not been changed in thedisplay image. Therefore, as an example, it is possible to easilyrecognize that positions of the contour guide line and the predictedcourse guide line have been changed, and thus to prompt an occupant todrive the vehicle along the contour guide line and the predicted courseguide line whose positions have been changed.

In the vehicle periphery display device of the embodiment, as anexample, the display processing portion may make a display mode of atleast one of the contour guide line and the predicted course guide linewhose position has not been changed different from a display mode of atleast one of the contour guide line and the predicted course guide linewhose position has been changed. Therefore, as an example, it ispossible to further reduce a probability that an occupant who sees thedisplay image may misunderstand a distance from the vehicle to anobstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as anexample, in a case where the vehicle is turned, the display processingportion may move the predetermined viewpoint to a viewpoint shiftedtoward an opposite side to a turning direction of the vehicle withrespect to a reference viewpoint, the reference viewpoint being locatedbehind the vehicle image and at a center of the vehicle image in avehicle width direction of the vehicle image. Therefore, as an example,in a case where the vehicle is turned, the vehicle can travel moresafely without contact with an object.

In the vehicle periphery display device of the embodiment, as anexample, in a case where the vehicle is turned, when the predictedcourse guide line whose position has not been changed is left in thedisplay image, the display processing portion may move the predeterminedviewpoint to a viewpoint at which the predicted course guide line whoseposition has been changed is displayed outside the predicted courseguide line whose position has not been changed. Therefore, as anexample, in the process in which a steering angle of the vehicle isbeing increased, it is possible to reduce a probability that the vehiclemay collide with an obstacle due to a misunderstanding that the vehiclewill not collide with the obstacle when the vehicle travels along thepredicted course guide line whose position has been changed.

In the vehicle periphery display device of the embodiment, as anexample, in a case where an object present around the vehicle isdetected by an obstacle sensor, the display processing portion maychange the position of at least one of the contour guide line and thepredicted course guide line. Therefore, as an example, an occupant ofthe vehicle can intuitively recognize that an obstacle is present in acourse of the vehicle, and thus it is possible to further reduce aprobability that the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as anexample, in a case where an object present around the vehicle isdetected by an obstacle sensor, the display processing portion may movethe predetermined viewpoint. Therefore, as an example, it is possible toeasily understand whether or not there is an obstacle around the vehicledepending on whether or not the predetermined viewpoint has been moved.

In the vehicle periphery display device according to the embodiment, asan example, the display processing portion may change a display mode ofat least one of the contour guide line and the predicted course guideline according to whether or not an object present around the vehicle isdetected by an obstacle sensor. Therefore, as an example, an occupant ofthe vehicle can intuitively recognize that an obstacle is present in acourse of the vehicle, and thus it is possible to further reduce aprobability that the vehicle may collide with the obstacle.

The principles, preferred embodiment and mode of operation of thepresent invention have been described in the foregoing specification.However, the invention which is intended to be protected is not to beconstrued as limited to the particular embodiments disclosed. Further,the embodiments described herein are to be regarded as illustrativerather than restrictive. Variations and changes may be made by others,and equivalents employed, without departing from the spirit of thepresent invention. Accordingly, it is expressly intended that all suchvariations, changes and equivalents which fall within the spirit andscope of the present invention as defined in the claims, be embracedthereby.

What is claimed is:
 1. A vehicle periphery display device comprising: atleast one processor configured to implement: an acquisition portion thatacquires a captured image obtained by imaging a periphery of a vehiclewith an imaging portion; and a display processing portion that causes adisplay image that is a stereoscopic image of the vehicle and theperiphery of the vehicle to be displayed on a display portion on thebasis of the captured image, wherein the display processing portioncauses at least one of a contour guide line representing a contour ofthe vehicle, and a predicted course guide line that is a trajectorydrawn by the contour guide line according to movement of the vehicle tobe included in the display image, and when the vehicle is turned,changes a position of at least one of the contour guide line and thepredicted course guide line such that the contour guide line and thepredicted course guide line are present above the contour guide line oftraveling straight and the predicted course guide line of travelingstraight a road surface in a case where the vehicle is turned.
 2. Thevehicle periphery display device according to claim 1, wherein thedisplay processing portion causes a stereoscopic image in which athree-dimensional space having a vehicle image that is a stereoscopicimage of the vehicle and a projection region that is located around thevehicle image and onto which the captured image is projected throughprojection conversion is viewed from a predetermined viewpoint locatedobliquely above the vehicle image, or an image obtained bythree-dimensionally restoring the periphery of the vehicle, to bedisplayed on the display portion as the display image.
 3. The vehicleperiphery display device according to claim 2, wherein, in a case wherethe vehicle is turned, the display processing portion moves thepredetermined viewpoint to a viewpoint shifted toward an opposite sideto a turning direction of the vehicle with respect to a referenceviewpoint, the reference viewpoint being located behind the vehicleimage and at a center of the vehicle image in a vehicle width directionof the vehicle image.
 4. The vehicle periphery display device accordingto claim 3, wherein, in a case where the vehicle is turned, when thepredicted course guide line whose position has not been changed is leftin the display image, the display processing portion moves thepredetermined viewpoint to a viewpoint at which the predicted courseguide line whose position has been changed is displayed outside thepredicted course guide line whose position has not been changed.
 5. Thevehicle periphery display device according to claim 3, wherein, in acase where an object present around the vehicle is detected by anobstacle sensor, the display processing portion moves the predeterminedviewpoint.
 6. The vehicle periphery display device according to claim 1,wherein the display processing portion draws at least one of the contourguide line and the predicted course guide line in the display image suchthat the contour guide line and the predicted course guide line arepresent on the road surface in a case where the vehicle advancesstraight, and draws at least one of the contour guide line and thepredicted course guide line in the display image such that the contourguide line and the predicted course guide line are present above theroad surface by a predetermined height in a case where the vehicle isturned.
 7. The vehicle periphery display device according to claim 6,wherein the predetermined height is a height corresponding to a heightof an end of the vehicle in an advancing direction of the vehicle or aheight of an object present around the vehicle.
 8. The vehicle peripherydisplay device according to claim 1, wherein, in a case where a steeringangle of the vehicle is equal to or more than a predetermined steeringangle, the display processing portion determines that the vehicle isturned, and changes the position of at least one of the contour guideline and the predicted course guide line.
 9. The vehicle peripherydisplay device according to claim 1, wherein, in a case where thevehicle is turned, the display processing portion gradually changes theposition of at least one of the contour guide line and the predictedcourse guide line.
 10. The vehicle periphery display device according toclaim 1, wherein, in a case where the vehicle is turned, the displayprocessing portion leaves at least one of the contour guide line and thepredicted course guide line whose position has not been changed in thedisplay image.
 11. The vehicle periphery display device according toclaim 10, wherein the display processing portion makes a display mode ofat least one of the contour guide line and the predicted course guideline whose position has not been changed different from a display modeof at least one of the contour guide line and the predicted course guideline whose position has been changed.
 12. The vehicle periphery displaydevice according to claim 1, wherein, in a case where an object presentaround the vehicle is detected by an obstacle sensor, the displayprocessing portion changes the position of at least one of the contourguide line and the predicted course guide line.
 13. The vehicleperiphery display device according to claim 1, wherein the displayprocessing portion changes a display mode of at least one of the contourguide line and the predicted course guide line according to whether ornot an object present around the vehicle is detected by an obstaclesensor.